The Design Of The Lunar Surface Detection Robot's Rowing Walking Mechanism

Since the implementation of the lunar exploration program,my country has made a series of significant progress in lunar exploration.After completing the three-step "around-fall-back" plan,my country's space industry has ushered in rapid development.Whether water ice exists on the moon has always been a hot issue for lunar exploration.More and more detection data indicate that water ice is likely to be contained in the permanent shadow area of the south pole of the moon.How to enter the permanent shadow area of the South Pole of the Moon for sampling and detection,while avoiding the polluted area caused by the detection entry process is one of the key problems of water ice detection in the South Pole of the Moon,which requires the detector to have a certain mobility.At present,mobile patrol devices in various countries around the world can complete a variety of complex scientific detection tasks,but their movement and sampling systems are very complicated.For this task that requires short distance movement and regional detection,the system resource cost is too high,how to improve the system The degree of integration and improved resource utilization have become the key to detecting its design.In this context,this article fully investigates and analyzes the development history and research status of the detection robots and sampling mechanisms at home and abroad,and proposes a high-system integration and resource utilization design of the robot movement mechanism of the lunar surface detector.In this paper,first,by comparing the advantages and disadvantages of the two schemes of the detector movement mechanism with the sampling function common and non-community,the design of the detector movement mechanism with the sampling function common for short-distance movement and area sampling detection is selected.The scheme adopts a single-leg drive to move in a sculling manner,and at the same time it is multiplexed as a sampling mechanism.The two have been designed in common.After determining the overall plan,the principle design of the sampling,driving,foot and other functional units was carried out,and the working modes of the detection robot movement and sampling were analyzed.Based on the design scheme of the detector moving mechanism in common with the sampling function,the design of the moving mechanism is carried out,and the driving leg is also the sampling mechanism.The unit adopts a multi-stage drill rod design,which completes the constraint design of its telescopic structure and uses flexibility.The scheme that the steel belt is embedded in the groove of the drill rod drives the expansion and contraction of the drill rod,the feasibility and reliability of the flexible steel belt drive are analyzed,and the friction drive method is used to design the footage driver that drives the flexible steel belt.The parallel platform is used to drive the multistage The swing of the drill rod finally completed the design of the foot pad to fix the foot.Based on the designed rowing moving mechanism,the control system is designed with the STM32 minimum system as the core.The upper computer and the lower computer adopt wireless communication.The lower computer collects the data of each force sensor and posture sensor,and drives each Motor.And the principle prototype is realized.The inverse kinematics,positive kinematics and attitude solution of the rowing moving mechanism are carried out,and the Jacobian matrix is given.Force analysis was carried out on the two modes of slip and rotation,and the feasible range and the swing direction of the driving leg were clarified.From the force analysis,the feasibility and flexibility of the rowing movement are verified.In order to obtain the pose information accurately,the complementary filtering algorithm is used to perform complementary filtering processing on the data of the gyroscope and the accelerometer,which effectively reduces the noise and drift of the sensor.In terms of servo control,the fuzzy PID algorithm is selected,and the fuzzy PID controller is designed.Finally,the motion law and swing strategy suitable for the rowing moving mechanism are given.Through the established virtual robot prototype system,the rowing movement strategy is simulated to verify the rationality and reliability of the rowing detection robot.